private void button1_Click(object sender, EventArgs e)
{
Communication.SetSpeedPacket sendFrame = new Communication.SetSpeedPacket();
sendFrame.Header = new byte[2] {
0xAA, 0xFF
};
sendFrame.CheckSum = new byte[2];
sendFrame.FunctionCode = 0xAC;
sendFrame.AGVID = 0x01;
sendFrame.Kp = Convert.ToSingle("2.0");
sendFrame.Ki = Convert.ToSingle("2.0");
sendFrame.Kd = Convert.ToSingle("0.015");
sendFrame.Velocity = Convert.ToSingle("15.0");
// calculate check sum
//sCRC16_Calculator(sendFrame.ToArrayCRC(), sendFrame.CheckSum);
// sendFrame.CheckSum = crc;
sendFrame.EndOfFrame = new byte[2] {
0x0A, 0x0D
};
if (!Communication.SerialPort.IsOpen)
{
return;
}
try { Communication.SerialPort.Write(sendFrame.ToArray(), 0, sendFrame.ToArray().Length); }
catch { };
}
public static void sendSpeedFrame()
{
Communication.SetSpeedPacket sendFrame = new Communication.SetSpeedPacket();
sendFrame.Header = new byte[2] {
0xAA, 0xFF
};
sendFrame.CheckSum = new byte[2];
sendFrame.FunctionCode = 0xAC;
sendFrame.AGVID = 0x01;
sendFrame.Kp = Convert.ToSingle("2.0");
sendFrame.Ki = Convert.ToSingle("2.0");
sendFrame.Kd = Convert.ToSingle("0.015");
sendFrame.Velocity = Convert.ToSingle("15.0");
sendFrame.CheckSum = new byte[2];
// calculate check sum
CRC16_Calculator(sendFrame.ToArrayCRC(), sendFrame.CheckSum);
// sendFrame.CheckSum = crc;
sendFrame.EndOfFrame = new byte[2] {
0x0A, 0x0D
};
if (!Communication.SerialPort.IsOpen)
{
return;
}
try { Communication.SerialPort.Write(sendFrame.ToArray(), 0, sendFrame.ToArray().Length); }
catch { };
if (timerToSendSpeedAgain.Enabled == false)
{
timerToSendSpeedAgain.Start();
}
}
